CN107951719A - A kind of automatic Chinese medicine decocting device and method - Google Patents
A kind of automatic Chinese medicine decocting device and method Download PDFInfo
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- CN107951719A CN107951719A CN201711409025.7A CN201711409025A CN107951719A CN 107951719 A CN107951719 A CN 107951719A CN 201711409025 A CN201711409025 A CN 201711409025A CN 107951719 A CN107951719 A CN 107951719A
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- medicine
- decocting
- control system
- manipulator
- explosive barrel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms
Abstract
The present invention provides a kind of automatic Chinese medicine decocting device and method, it is related to Traditional Chinese medicine decocting field, including control system, manipulator and at least two decocting medicine pots, decocting medicine pot is placed around manipulator, decocting medicine pot is identical apart from the distance of manipulator pivot, medicinal material is provided with the range of the crawl of manipulator and takes area, medicinal material takes placement explosive barrel in area, held in explosive barrel and need fried Chinese medicinal material；Explosive barrel can be captured and broadcasted to decocting medicine pot by manipulator, and the structure of explosive barrel is engaged with the structure inside decocting medicine pot, and hole is uniformly arranged on the side wall of explosive barrel；Control system includes manipulator control system and decocting medicine pot control system, manipulator control system are connected with manipulator, and manipulator control system realizes the action that picks and places to explosive barrel, and the switching motion to lid of decocting medicinal herbs pot by control machinery hands movement；Decocting medicine pot control system is connected with decocting medicine pot, and decocting medicine pot control system effectively increases the automation boiled medicine by controlling the working status of decocting medicine pot to realize process of boiling medicine.
Description
Technical field
The present invention provides a kind of automatic Chinese medicine decocting device and method, is related to Traditional Chinese medicine decocting field.
Background technology
The duration and degree of heating and duration of Traditional Chinese medicine decocting have large effect, therefore the Traditional Chinese medicine decocting journey in the present age to the pharmacological property of Chinese medicine
Sequence is mostly manual operation, and has certain skill requirement to the personnel of boiling medicine.
But it is manually-operated time-consuming longer, occupancy manpower is heavier, and manual operation is compared to Automation in Mechanical Working journey
Spend relatively low, easily produce and maloperation and be not easy to find, and drug safety directly affects the life and health situation of user, fried mistake
Defeated general causes medicine calcellation to cause to waste.
The content of the invention
In order to solve problem above, the present invention provides a kind of automatic Chinese medicine decocting device, can effectively improve Chinese medicine and decoct
The automatization level of medicine.
Technical scheme is as follows：A kind of automatic Chinese medicine decocting device, including control system, rotatable manipulator
With at least two decocting medicine pots, the decocting medicine pot is placed around manipulator, the distance phase of each decocting medicine pot and manipulator pivot
Together, medicinal material is provided with the range of the crawl of the manipulator and takes area, the medicinal material is taken placement explosive barrel in area, held in explosive barrel
Need fried Chinese medicinal material；Explosive barrel can be captured and broadcasted to decocting medicine pot by the manipulator, and the structure of the explosive barrel is with boiling medicine
Structure inside pot is engaged, and hole is uniformly arranged on the side wall of the explosive barrel；The control system includes manipulator control
System and decocting medicine pot control system, the manipulator control system are connected with manipulator, and the manipulator control system passes through control
Robot movement processed realizes the action that picks and places to explosive barrel, and the switching motion to lid of decocting medicinal herbs pot；The decocting medicine pot control system
System is connected with decocting medicine pot, and the decocting medicine pot control system is by controlling the working status of decocting medicine pot to realize process of boiling medicine.
Technical solution of the present invention additionally provides a kind of automatic Chinese medicine decocting method：
（1）Medicinal material is in place：The Chinese medicinal material prepared is inserted into explosive barrel, explosive barrel is located at medicinal material takes region；
（2）Boil medicine preparation：Explosive barrel is captured and is put into decocting medicine pot by manipulator, adds water, is shut after boiling medicine pot cover and buckleing reality, is locked
Insurance, closes drain tap；
（3）Boil medicine：Decocting medicine pot carries out medicine fried；
（4）Get it filled：After the completion of boiling medicine, manipulator opens air bleeding valve, pulls open insurance, starts pot cover, takes out explosive barrel, is put into medicinal material fortune
Defeated region；
（5）Cleaning：The rotary nozzle of manipulator crawl section ejects current and explosive barrel is cleaned；
（6）Manipulator resets.
Beneficial effects of the present invention are：The present invention provides a kind of automatic Chinese medicine decocting device and method, pass through boiling machine
With the method for manipulator cooperating, it will be placed on using manipulator in explosive barrel and treat that fried medicinal material is placed into boiling machine and carry out
It is fried, using the flexibility of manipulator and the degree of automation realize to explosive barrel pick and place and the keying of lid of decocting medicinal herbs pot, can
The accuracy of good guarantee work, releases manpower.
Multiple decocting medicine pots are identical apart from the distance of the manipulator centre of gyration, can save the time of adjustable range, mitigate journey
The complexity of sequence design.
At the same time operating personnel the process of boiling medicine can be regulated and controled by control system, can find in time it is fried during
The problem of, such as fried time, the duration and degree of heating, fried progress, have ensured the accuracy boiled medicine, so as to ensure drug safety, have avoided medicine
The waste of thing.
Brief description of the drawings
Fig. 1 is the automatic decocting device scheme of installation of the present invention；
Fig. 2 is the multi-functional boiling machine schematic diagram of the present invention；
Fig. 3 is manipulator gripping portion structure diagram of the present invention；
Fig. 4 is manipulator gripping portion schematic front view of the present invention；
Fig. 5 is explosive barrel schematic side view of the present invention；
Fig. 6 is explosive barrel schematic top plan view of the present invention.
Wherein, 1, manipulator, 2, decocting medicine pot, 21, pot cover position sensor, 22, pot cover buckle reality inductor, 23, locking protects
Dangerous position sensor, 3, conveyer belt, 4, Transfer pipe, 5, explosive barrel, 51, built-in reinforcing rib.
Embodiment
Below in conjunction with drawings and examples, the invention will be described further.
Simultaneously as simply section Example described below, in the case where there is no conflict, embodiment in the application and
Feature in embodiment can be mutually combined.
Embodiment 1：A kind of automatic Chinese medicine decocting device, including control system, rotatable manipulator 1 and four decocting medicine pots
2。
As shown in Figure 1, decocting medicine pot 2 is placed around manipulator 1, the distance of each decocting medicine pot 2 and the pivot of manipulator 1
Deflection angle between identical and adjacent decocting medicine pot 2 is identical.
Medicinal material is provided with the range of the crawl of manipulator 1 and takes area, medicinal material take be placed with area hold need it is fried in
The explosive barrel 5 of medicine medicinal material, explosive barrel 5 are placed on conveyer belt 3, by Transfer pipe 4 and AGV trolleies or other logistics devices from making up a prescription
Transport room.
The structure of explosive barrel 5 is engaged with the structure inside decocting medicine pot 2, and manipulator 1 includes crawl section, the top sides of explosive barrel 5
Edge is provided with built-in reinforcing rib 51, and crawl section is inner support structure, inner support structure and built-in 51 respective outer side edges of reinforcing rib, and crawl section can
Explosive barrel 5 is captured and is broadcasted to decocting medicine pot 2, to facilitate crawl explosive barrel and will not be influenced be subject to Cooker structure of boiling medicine.
Hole is uniformly arranged on the side wall of explosive barrel 5, to discharge liquid, the bottom of explosive barrel 5 is hollow structure, to coordinate
Decocting medicine pot 2 carries out shingle.
Two stripper plate mounting grooves are symmetrically arranged with built-in reinforcing rib 51, stripper plate mounting groove is located at built-in reinforcing rib 51
Same center line on, stripper plate by stripper plate mounting groove be installed on explosive barrel 5 in, i.e. the maximal side degree and medicine of stripper plate
The internal diameter of bucket 5 is almost identical, to ensure good squeezing effect.
There is the circular hole of diameter 100mm in the bottom centre of explosive barrel 5, coordinates the shingle function of decocting medicine pot.
Control system includes manipulator control system and decocting medicine pot control system, and manipulator control system connects with manipulator 1
Connecing, manipulator control system realizes the action that picks and places to explosive barrel 5 by the movement of control machinery hand 1, and to 2 pot cover of decocting medicine pot
Switching motion.
Decocting medicine pot control system is connected with decocting medicine pot 2, and decocting medicine pot control system is real by controlling the working status of decocting medicine pot 2
Now boil medicine process.
The automatic decoction step mainly includes：
（1）Medicinal material is in place：The Chinese medicinal material prepared is inserted into explosive barrel 5, explosive barrel 5 is located at medicinal material takes region；
（2）Boil medicine preparation：Explosive barrel 5 is captured and is put into decocting medicine pot by manipulator 1, adds water, is shut after boiling medicine pot cover and buckleing reality, lock
Insure, close drain tap；
（3）Boil medicine：Decocting medicine pot carries out medicine fried；
（4）Get it filled：After the completion of boiling medicine, manipulator opens air bleeding valve, pulls open insurance, starts pot cover, takes out explosive barrel, is put into medicinal material fortune
Defeated region；
（5）Cleaning：Clean explosive barrel；
（6）Manipulator resets.
Embodiment 2：As an improvement, being provided with cleaning unit on the inside of the crawl section of manipulator 1, set on the cleaning unit
There are three water outlets, the water outlet is connected with water system, the rotatable control in manipulator control system of the cleaning unit
The lower rotation of system, i.e. the cleaning unit can rotatably be sprayed water, and be cleaned to explosive barrel 5.
Embodiment 3：As an improvement, control system includes taking position close to manipulator 1 into medicine control system, conveyer belt 3
The edge of one end be provided with optoelectronic switch.
Optoelectronic switch and conveyer belt are connected with into medicine control system respectively, optoelectronic switch be used to sensing on conveying arrangement whether
Explosive barrel 5 is placed with, and is transmitted signals into medicine control system, into medicine control system by controlling the run action of conveying arrangement
Adjust the time that explosive barrel 5 is fed.
When optoelectronic switch senses explosive barrel 5, conveying arrangement remains stationary state is controlled into medicine control system；When photoelectricity is opened
When pass is not sensed by explosive barrel 5, next station is taken to the side of position into medicine control system control conveying arrangement to close manipulator 1
To transmission, untill sensing explosive barrel 5.
Embodiment 4：As an improvement, being provided with weight induction device, weight induction on conveyer belt 3 on the basis of embodiment 3
Device is connected with into medicine control system, and weight induction device is used for sensing explosive barrel 5 whether is placed with conveyer belt 3, and signal is transmitted
Extremely into medicine control system, into medicine control system by controlling the operating of conveyer belt 3 to control 5 tramsfer time of explosive barrel.
Explosive barrel 5 is placed with when weight induction device is not sensed by conveyer belt 3 and when optoelectronic switch is not sensed by explosive barrel 5, into medicine
Control system controls 3 remains stationary of conveyer belt.
Explosive barrel 5 is placed with conveyer belt 3 when weight induction device senses and when optoelectronic switch is not sensed by explosive barrel 5, into medicine control
System processed control conveyer belt 3 transmits next station to the direction that position is taken close to manipulator 1, until sensing that explosive barrel 5 is
Only.
Boil medicine in automatic Chinese medicine decocting method as described in Example 1, and proceed to step（3）When, at existing
In the decocting medicine pot 2 of idle condition, and medicinal material is taken and is placed with region when holding the explosive barrel 5 for needing fried Chinese medicinal material, to phase
Answer automatic Chinese medicine decocting method of the medicinal material in explosive barrel 5 as described in embodiment 1 to proceed by from step 2 to boil medicine.At this time formerly and
Posterior synchronous progress.
Due to and it is asynchronous medicinal material is put into decocting medicine pot, can't shadow also there will be the time difference during getting it filled
Ring the operation of other programs of boiling medicine.
When decocting medicine pot 2 is completely in working status, the explosive barrel 5 that manipulator 1 will not take medicinal material in region is grasped
Make.
Embodiment 5：It is improved on the basis of above example, locking safeties is installed on decocting medicine pot 2 and are connect
Nearly switch, is connected close to switch with manipulator control system and decocting medicine pot control system, and including pot cover close to switch is closely located to
Switch 21, pot cover buckle real close switch 22 and locking safety position close to switch 23.
Pot cover is closely located to switch 21, positioned at the side that 2 upper surface pot cover of decocting medicine pot is raised.Pot cover is closely located to switch 21
Whether the Distance Judgment pot cover that 21 top induction zones of switch are closely located to apart from pot cover by induction kettle exterior surface is fully raised,
And transmit signals to manipulator control system.
Pot cover buckles real close switch 22, positioned at the side of 2 upper surface pot cover of decocting medicine pot, when pot cover is opened or is not buckled real
When, 2 top edge of decocting medicine pot buckles the real induction zone close to switch 22 farther out apart from pot cover, is shortened after pot cover buckles reality apart from pot cover
The distance of the real induction zone close to switch 22 of button.Pot cover is buckled real close switch 22 and is used to sense whether pot cover is buckled in fact simultaneously with this principle
Transmit signals to manipulator control system.
Locking safeties are external safeties, and the induction zone of locking safety position close to switch 23 is protected positioned at locking
Position after dangerous device locking decocting medicine pot 2.That is, safety position is locked close to switch 23, the close switch of locking safety position
Can 23, to sense locking safeties, judge to lock whether safeties lock decocting medicine pot 2.Safeties are locked with this
Principle is used to sense whether locking safeties lock decocting medicine pot and transmit signals to manipulator control system and boil medicine
Pot control system.
When pot cover is fully raised, manipulator control system can control manipulator 1 that explosive barrel is put into corresponding decocting medicine pot 2
Boil medicine；
When pot cover is closed, but pot cover buckle it is real do not buckled in real time close to the sensing pot covers of switch 22, manipulator control system
And to operating personnel's signal an alert, manipulator 1 will not carry out next step lock out action at this time；Manually will by operating personnel
Pot cover buckles reality.
After pot cover, which buckles real close switch 22, senses that pot cover buckles reality, manipulator control system is transported by control machinery hand 1
It is dynamic to promote locking safeties to lock decocting medicine pot 2；
After locking safety position senses that decocting medicine pot has locked close to switch 23, manipulator resets, decocting medicine pot control system
Control decocting medicine pot 2 starts to boil medicine.
Embodiment 6：Be improved on the basis of embodiment 5, when pot cover is closed, but pot cover buckle it is real close to opening
Close 22 sensing pot covers not buckled in real time, manipulator 1 will not carry out next step lock out action, manipulator control system control machinery
Hand 1 is moved buckles reality by pot cover.Other structures are same as Example 5.
Embodiment 7：The decocting medicine pot 2 using Multifunctional medicinal herb decocting boiler, it can be achieved that under after being decocted first, boil medicine by normal pressure, automatic cleaning,
Automatic stirring, mild and heavy respiration automatic conversion, the dregs of a decoction are automatically separated, the function such as automatic high-temperature sterilization.It is it should be noted that such
Decocting medicine pot has commercially been sold, and is belonged to the prior art, is not repeated herein.In the technical program, it will need to only boil medicine
2 control systems of itself of pot are docked with the decocting medicine pot control system of control system, and machine automatization is converted into by manual operation
Change operation.
It should be noted simultaneously that manipulator 1 uses relatively broad, its operation principle and tool as automation equipment
This will not be repeated here for body structure.
The above, is only presently preferred embodiments of the present invention, and limitation in any form is not done to the present invention, all at this
All any modification, equivalent and improvement etc. are done within the spirit and principle of invention, should be included in protection scope of the present invention
Within.
Claims (10)
- A kind of 1. automatic Chinese medicine decocting device, it is characterised in that including：Control system, rotatable manipulator（1）, Yi Jizhi Few two decocting medicine pots（2）, the decocting medicine pot（2）Around manipulator（1）Place, each decocting medicine pot（2）With manipulator（1）Rotation The distance at center is identical, the manipulator（1）Crawl in the range of be provided with medicinal material and take area, the medicinal material is taken in area and is placed Explosive barrel（5）, explosive barrel（5）Inside hold and need fried Chinese medicinal material；The manipulator（1）Can be by explosive barrel（5）Capture and broadcast to decocting medicine pot（2）It is interior, the explosive barrel（5）Structure and decocting medicine pot （2）Internal structure is engaged, the explosive barrel（5）Side wall on be uniformly arranged hole；The control system includes manipulator control system and decocting medicine pot control system, the manipulator control system and manipulator （1）Connection, the manipulator control system pass through control machinery hand（1）Movement is realized to explosive barrel（5）Pick and place action, it is and right Decocting medicine pot（2）The switching motion of pot cover；The decocting medicine pot control system and decocting medicine pot（2）Connection, the decocting medicine pot control system is by controlling decocting medicine pot（2）Work Make state and realize process of boiling medicine.
- A kind of 2. automatic Chinese medicine decocting device as claimed in claim 1, it is characterised in that：The control system is included into medicine control System processed, the medicinal material take and conveying arrangement are provided with area, the explosive barrel（5）It is placed on conveying arrangement, the transport dress Put and be provided with multiple transmission stations, the conveying arrangement is close to manipulator（1）The one end for taking position is provided with optoelectronic switch；The optoelectronic switch and conveying arrangement are connected with into medicine control system respectively, and the optoelectronic switch is used to sense conveying arrangement On whether be placed with explosive barrel（5）, and transmit signals into medicine control system, into medicine control system by controlling conveying arrangement Run action adjusts explosive barrel（5）The time of feed；When optoelectronic switch senses explosive barrel（5）When, control conveying arrangement remains stationary state into medicine control system；When optoelectronic switch is not sensed by explosive barrel（5）When, into medicine control system control conveying arrangement by next station to close to machinery Hand（1）The direction transmission of position is taken, until sensing explosive barrel（5）Untill.
- A kind of 3. automatic Chinese medicine decocting device as claimed in claim 2, it is characterised in that：The conveying arrangement is conveyer belt （3）, the conveyer belt（3）On be provided with weight induction device, the weight induction device is connected with into medicine control system, the weight Inductor is used to sense conveyer belt（3）On whether be placed with explosive barrel（5）, and transmit signals into medicine control system, it is described into Medicine control system is by controlling conveyer belt（3）Operating control explosive barrel（5）The feed time；When weight induction device is not sensed by conveyer belt（3）On be placed with explosive barrel（5）And optoelectronic switch is not sensed by explosive barrel（5）When, into Medicine control system controls conveyer belt（3）Remains stationary；When weight induction device senses conveyer belt（3）On be placed with explosive barrel（5）And optoelectronic switch is not sensed by explosive barrel（5）When, into medicine Control system controls conveyer belt（3）By next station to close to manipulator（1）The direction transmission of position is taken, until sensing medicine Bucket（5）Untill.
- A kind of 4. automatic Chinese medicine decocting device as claimed in claim 1, it is characterised in that：The decocting medicine pot（2）On be provided with Lock safeties and close to switch, the close switch is connected with manipulator control system and decocting medicine pot control system, described Include pot cover close to switch to be closely located to switch（21）, pot cover buckle it is real close to switch（22）With the close switch of locking safety position （23）；The pot cover is closely located to switch（21）Positioned at the side that 2 upper surface pot cover of decocting medicine pot is raised, the pot cover is closely located to Switch（21）For sensing whether pot cover is fully raised, and manipulator control system is transmitted signals to, the pot cover is buckled to be connect in fact Nearly switch（22）, whether buckle reality for sensing pot cover and transmit signals to manipulator control system, the locking safety position Close to switch（23）, for sensing whether locking safeties lock decocting medicine pot and transmit signals to manipulator control system System and decocting medicine pot control system；When pot cover is fully raised, manipulator control system can control manipulator（1）Explosive barrel is put into corresponding decocting medicine pot（2）It is interior Boil medicine；When pot cover buckles real close switch（22）After sensing that pot cover buckles reality, manipulator control system passes through control machinery hand（1）Fortune It is dynamic to promote locking safeties by decocting medicine pot（2）Locking；When the close switch of locking safety position（23）After sensing that decocting medicine pot has locked, decocting medicine pot（2）Start to boil medicine.
- A kind of 5. automatic Chinese medicine decocting device as described in Claims 1-4 is any, it is characterised in that：The manipulator（1）Bag Include crawl section, the explosive barrel（5）Top edge be provided with built-in reinforcing rib（51）, the crawl section is inner support structure, described Inner support structure and built-in reinforcing rib（51）Respective outer side edges.
- A kind of 6. automatic Chinese medicine decocting device as claimed in claim 5, it is characterised in that：The built-in reinforcing rib（51）Shang pair Title is provided with two stripper plate mounting grooves, and the stripper plate mounting groove is located at built-in reinforcing rib（51）Same center line on, squeeze Pressing plate is installed on explosive barrel by stripper plate mounting groove（5）It is interior.
- A kind of 7. automatic Chinese medicine decocting device as claimed in claim 6, it is characterised in that：The explosive barrel（5）Bottom centre sets It is equipped with cooperation decocting medicine pot（2）Shingle function circular hole.
- A kind of 8. automatic Chinese medicine decocting device as claimed in claim 1, it is characterised in that：The manipulator（1）Crawl section Inner side is provided with the rotary nozzle for cleaning explosive barrel, and the rotary nozzle is connected with water system.
- 9. a kind of automatic Chinese medicine decocting method, its step mainly include：（1）Medicinal material is in place：The Chinese medicinal material prepared is inserted into explosive barrel（5）, by explosive barrel（5）Region is taken positioned at medicinal material；（2）Boil medicine preparation：Manipulator（1）By explosive barrel（5）Capture and be put into decocting medicine pot, add water, shut and boil medicine pot cover and buckle reality Afterwards, insurance is locked, closes drain tap；（3）Boil medicine：Decocting medicine pot carries out medicine fried；（4）Get it filled：After the completion of boiling medicine, manipulator opens air bleeding valve, pulls open insurance, starts pot cover, takes out explosive barrel, is put into medicinal material fortune Defeated region；（5）Cleaning：Manipulator（1）The rotary nozzle of crawl section ejects current to explosive barrel（5）Cleaned；（6）Manipulator resets.
- A kind of 10. automatic Chinese medicine decocting method as claimed in claim 8, it is characterised in that：Carrying out step（3）When into traveling Journey judges, when in the presence of the decocting medicine pot in idle condition（2）, and medicinal material takes to be placed with to hold in region and needs fried Chinese medicines The explosive barrel of material（5）When, from step（2）Start to corresponding explosive barrel（5）Operated；Work as decocting medicine pot（2）When being completely in working status, manipulator（1）The explosive barrel in region will not be taken to medicinal material（5）Carry out Operation.
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| CN201711409025.7A CN107951719A (en) | 2017-12-22 | 2017-12-22 | A kind of automatic Chinese medicine decocting device and method |
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| CN201711409025.7A CN107951719A (en) | 2017-12-22 | 2017-12-22 | A kind of automatic Chinese medicine decocting device and method |
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| CN108433986A (en) * | 2018-05-05 | 2018-08-24 | 杨贵忠 | A kind of Domestic Chinese medicine boiling machine |
| CN108542773A (en) * | 2018-05-15 | 2018-09-18 | 易葫禄科技(苏州)有限公司 | Chinese medicine automates decoction system |
| CN108553302A (en) * | 2018-05-15 | 2018-09-21 | 易葫禄科技(苏州)有限公司 | Chinese medicine automates decocting method |
| CN109771287A (en) * | 2018-12-29 | 2019-05-21 | 浙江厚达智能科技股份有限公司 | A kind of interior bucket translation shifting type pan-fried bucket recombination mechanism |
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| CN110403823A (en) * | 2019-06-26 | 2019-11-05 | 康美药业股份有限公司 | Automation decocting for Chinese herbal medicine method based on truss robot |
| CN111487915A (en) * | 2019-01-25 | 2020-08-04 | 北京东华原医疗设备有限责任公司 | Medicine decocting system based on truss robot and control method thereof |
| CN111481441A (en) * | 2019-01-25 | 2020-08-04 | 北京东华原医疗设备有限责任公司 | Pharmacy system based on automatic decoction packaging system and control method thereof |
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